Being a working mom can be tough, but when your job involves concerts that begin at bedtime and constant traveling for tours, it can be hard to fit in those mother and child reunions.

But these musician moms got creative and took "take your child to work day" to a whole different level. From inviting their offspring on tour to including them in their recordings, they're all clearly proud mamas who are helping to make memories not just for their families, but for the fans too.

Madonna // David Banda, Mercy James, Stella and Estere

Madonna just wrapped up her international Celebration Tour, and while all six of her children joined her onstage at various times, her four youngest proved their own showbiz credentials during her shows. Daughter Mercy James, who turned 18 during the tour and was serenaded by all of Madison Square Garden, showcased her classical piano training each night with a solo Chopin piece before launching into her mother's 1992 song "Bad Girl," when the Material Girl came back onstage and duetted with her. Son David Banda, 18, played guitar and sang a verse her of 2003's "Mother and Father" as she honored both her mother and David's biological mother. And 11-year-old twins Stella and Estere each vogued and danced during the show as well.

Beyonce // Blue Ivy

Blue Ivy famously made her onstage debut during Beyonce's 2011 VMA performance - after singing "Love on Top," Bey beamed as she unbuttoned her purple sequined blazer and rubbed her burgeoning bump. Since then, Blue, now 12, has collaborated with her mother on the 2019 The Lion King: The Gift soundtrack, and she spent much of 2023 perfecting her choreography during the "My Power" and "Black Parade" segments of Beyonce's Renaissance tour.

Mariah Carey // Roc and Roe

Mariah Carey's twins, Moroccan and Monroe, have been joining her onstage for years, beginning with little skits and singing (what else?) Christmas tunes when they were 8. Now at 13, the twins, affectionately known as Roc and Roe, appeared on both of their mother's Apple TV+ Christmas specials and most recently performed on her 2023 Merry Christmas One and All! Tour. Monroe duetted with her mom during "Jesus Born on This Day," while Moroccan played drums and rapped during "Here Comes Santa Claus."

Kelly Clarkson // River and Remington

Kelly Clarkson is one busy mama! Between her music career, her daily talk show, and her various concert dates, the single mom has a ton of obligations to juggle. So when her children, 9-year-old River Rose and 7-year-old Remy, joined her onstage at a handful of Las Vegas residency shows in November 2023, it was an adorable, feel-good family affair. River asked to sing "Heartbeat Song" with Clarkson, and Remy wanted to dance during "Whole Lotta Woman."

Carly Simon // Sally Taylor and Ben Taylor

Carly Simon's children Sally Taylor and Ben Taylor (their father is Simon's ex-husband James Taylor) not only joined her onstage for years when they were children, but the family has often sung together in the years since the kids each grew up and pursued their own music careers -- renditions of James Taylor's classic "You Can Close Your Eyes" is a favorite choice. This year, Sally, now 50, put together a sweet slideshow of photos for her mother, set to a song she commissioned from Songfinch called "The Star That You Are."

"My mama is one of the most resilient, humorous, spirited humans on the planet," Sally wrote about her mother for People, saying that even with having a career and personality as big as Simon's she always found time to help her daughter learn to shine on her own. "She was an oak that made sky for a sapling, an ocean that welcomed a stream."

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